mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 15:41:36 +08:00
182 lines
7.4 KiB
C++
182 lines
7.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
/// @file mavlink_ftp.h
|
|
/// @author px4dev, Don Gagne <don@thegagnes.com>
|
|
|
|
#include <dirent.h>
|
|
#include <queue.h>
|
|
|
|
#include <systemlib/err.h>
|
|
|
|
#include "mavlink_stream.h"
|
|
#include "mavlink_bridge_header.h"
|
|
|
|
class MavlinkFtpTest;
|
|
|
|
/// MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message.
|
|
class MavlinkFTP : public MavlinkStream
|
|
{
|
|
public:
|
|
/// @brief Contructor is only public so unit test code can new objects.
|
|
MavlinkFTP(Mavlink *mavlink);
|
|
~MavlinkFTP();
|
|
|
|
static MavlinkStream *new_instance(Mavlink *mavlink);
|
|
|
|
/// Handle possible FTP message
|
|
void handle_message(const mavlink_message_t *msg);
|
|
|
|
typedef void (*ReceiveMessageFunc_t)(const mavlink_file_transfer_protocol_t* ftp_req, void *worker_data);
|
|
|
|
/// @brief Sets up the server to run in unit test mode.
|
|
/// @param rcvmsgFunc Function which will be called to handle outgoing mavlink messages.
|
|
/// @param worker_data Data to pass to worker
|
|
void set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, void *worker_data);
|
|
|
|
/// @brief This is the payload which is in mavlink_file_transfer_protocol_t.payload. We pad the structure ourselves to
|
|
/// 32 bit alignment to avoid usage of any pack pragmas.
|
|
struct PayloadHeader
|
|
{
|
|
uint16_t seq_number; ///< sequence number for message
|
|
uint8_t session; ///< Session id for read and write commands
|
|
uint8_t opcode; ///< Command opcode
|
|
uint8_t size; ///< Size of data
|
|
uint8_t req_opcode; ///< Request opcode returned in kRspAck, kRspNak message
|
|
uint8_t burst_complete; ///< Only used if req_opcode=kCmdBurstReadFile - 1: set of burst packets complete, 0: More burst packets coming.
|
|
uint8_t padding; ///< 32 bit aligment padding
|
|
uint32_t offset; ///< Offsets for List and Read commands
|
|
uint8_t data[]; ///< command data, varies by Opcode
|
|
};
|
|
|
|
/// @brief Command opcodes
|
|
enum Opcode : uint8_t
|
|
{
|
|
kCmdNone, ///< ignored, always acked
|
|
kCmdTerminateSession, ///< Terminates open Read session
|
|
kCmdResetSessions, ///< Terminates all open Read sessions
|
|
kCmdListDirectory, ///< List files in <path> from <offset>
|
|
kCmdOpenFileRO, ///< Opens file at <path> for reading, returns <session>
|
|
kCmdReadFile, ///< Reads <size> bytes from <offset> in <session>
|
|
kCmdCreateFile, ///< Creates file at <path> for writing, returns <session>
|
|
kCmdWriteFile, ///< Writes <size> bytes to <offset> in <session>
|
|
kCmdRemoveFile, ///< Remove file at <path>
|
|
kCmdCreateDirectory, ///< Creates directory at <path>
|
|
kCmdRemoveDirectory, ///< Removes Directory at <path>, must be empty
|
|
kCmdOpenFileWO, ///< Opens file at <path> for writing, returns <session>
|
|
kCmdTruncateFile, ///< Truncate file at <path> to <offset> length
|
|
kCmdRename, ///< Rename <path1> to <path2>
|
|
kCmdCalcFileCRC32, ///< Calculate CRC32 for file at <path>
|
|
kCmdBurstReadFile, ///< Burst download session file
|
|
|
|
kRspAck = 128, ///< Ack response
|
|
kRspNak ///< Nak response
|
|
};
|
|
|
|
/// @brief Error codes returned in Nak response PayloadHeader.data[0].
|
|
enum ErrorCode : uint8_t
|
|
{
|
|
kErrNone,
|
|
kErrFail, ///< Unknown failure
|
|
kErrFailErrno, ///< Command failed, errno sent back in PayloadHeader.data[1]
|
|
kErrInvalidDataSize, ///< PayloadHeader.size is invalid
|
|
kErrInvalidSession, ///< Session is not currently open
|
|
kErrNoSessionsAvailable, ///< All available Sessions in use
|
|
kErrEOF, ///< Offset past end of file for List and Read commands
|
|
kErrUnknownCommand ///< Unknown command opcode
|
|
};
|
|
|
|
// MavlinkStream overrides
|
|
virtual const char *get_name(void) const;
|
|
virtual uint8_t get_id(void);
|
|
virtual unsigned get_size(void);
|
|
|
|
private:
|
|
char *_data_as_cstring(PayloadHeader* payload);
|
|
|
|
void _process_request(mavlink_file_transfer_protocol_t* ftp_req, uint8_t target_system_id);
|
|
void _reply(mavlink_file_transfer_protocol_t* ftp_req);
|
|
int _copy_file(const char *src_path, const char *dst_path, size_t length);
|
|
|
|
ErrorCode _workList(PayloadHeader *payload);
|
|
ErrorCode _workOpen(PayloadHeader *payload, int oflag);
|
|
ErrorCode _workRead(PayloadHeader *payload);
|
|
ErrorCode _workBurst(PayloadHeader* payload, uint8_t target_system_id);
|
|
ErrorCode _workWrite(PayloadHeader *payload);
|
|
ErrorCode _workTerminate(PayloadHeader *payload);
|
|
ErrorCode _workReset(PayloadHeader* payload);
|
|
ErrorCode _workRemoveDirectory(PayloadHeader *payload);
|
|
ErrorCode _workCreateDirectory(PayloadHeader *payload);
|
|
ErrorCode _workRemoveFile(PayloadHeader *payload);
|
|
ErrorCode _workTruncateFile(PayloadHeader *payload);
|
|
ErrorCode _workRename(PayloadHeader *payload);
|
|
ErrorCode _workCalcFileCRC32(PayloadHeader *payload);
|
|
|
|
uint8_t _getServerSystemId(void);
|
|
uint8_t _getServerComponentId(void);
|
|
uint8_t _getServerChannel(void);
|
|
|
|
// Overrides from MavlinkStream
|
|
virtual void send(const hrt_abstime t);
|
|
|
|
static const char kDirentFile = 'F'; ///< Identifies File returned from List command
|
|
static const char kDirentDir = 'D'; ///< Identifies Directory returned from List command
|
|
static const char kDirentSkip = 'S'; ///< Identifies Skipped entry from List command
|
|
|
|
/// @brief Maximum data size in RequestHeader::data
|
|
static const uint8_t kMaxDataLength = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(PayloadHeader);
|
|
|
|
struct SessionInfo {
|
|
int fd;
|
|
uint32_t file_size;
|
|
bool stream_download;
|
|
uint32_t stream_offset;
|
|
uint16_t stream_seq_number;
|
|
uint8_t stream_target_system_id;
|
|
};
|
|
struct SessionInfo _session_info; ///< Session info, fd=-1 for no active session
|
|
|
|
ReceiveMessageFunc_t _utRcvMsgFunc; ///< Unit test override for mavlink message sending
|
|
void *_worker_data; ///< Additional parameter to _utRcvMsgFunc;
|
|
|
|
/* do not allow copying this class */
|
|
MavlinkFTP(const MavlinkFTP&);
|
|
MavlinkFTP operator=(const MavlinkFTP&);
|
|
|
|
|
|
// Mavlink test needs to be able to call send
|
|
friend class MavlinkFtpTest;
|
|
};
|